03/01/2006 NEO234 / S. Eskiizmirliler, Paris 7, INSERM U742 1

Contenu de la  séance 3

Projet PALOMA (1998-2002) et NEUROBOTICS (2004 - 2008) Une architecture multi réseaux d’apprentissage multimodale pour

contrôle moteur des mvm. d’atteindre et de saisir inspirée de la connectivité cortico cortical.

Application du modèle sur un bras « anthropomorphique » à 7 ddl équipé d’une main à 3 doigts. Projet Européens PALOMA, et NEUROBOTICS.

Projets actuels de l’équipe 2 (Motricité et dextérité manuelle) de l’INSERM U742 ANIM

Modélisation du RVO et des mouvements coordonnées de l’œil et de la tête

Le contrôle sensori moteur cérébelleux d’un bras de robotique de 2 ddl Projet de la main artificielle mue par des muscles artificiels de type EAP

Qu’est ce qui se passe ailleurs ?

03/01/2006 NEO234 / S. Eskiizmirliler, Paris 7, INSERM U742 2

1. OBJECTIVE: to propose a multi-network architecture that enables progressive learning of multiple tasks and tasks of different complexity within a unified architecture.

2. OBJECTIVE: simulation of progressive, stage wise learning by the use of the PALOMA architecture, the PALOMA learning mechanisms and the PALOMA learning modules. Five stages had been envisioned for progressive learning: i) somato-motor stage, ii) visual and somato-motor stage, iii) reach and grasp of object, iv) sequence of movements, v) object manipulation. 3. OBJECTIVE: implementation of PALOMA architecture, the PALOMA learning mechanisms and the PALOMA learning modules, in a real-world artefact and demonstration of feasibility and functionality of the proposed scheme through real-world interaction of robot manipulators PALOMA platforms.

Projet PALOMA (1998-2002)

-> NEUROBOTICS (2004 - 2008)

Les projets de recherche actuels de l’Equipe 2: Motricité –Dextérité manuelle de l’INSERM U742 - ANIM

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Projet PALOMA (1998-2002) -> NEUROBOTICS (2004 - 2008)

3D contact point

Forward kinematics

Angular Finger Configuration = (1, 2, 3)

Or = (,1, 2, 3)

+-

MatchingUnit

Main publications:F. Carenzi, et al. “A generic neural network for multi-modal sensorimotor

learning”, Neurocomputing, 2004, 58-60, pp.525-533.L. Zollo, et al.“A bio-inspired Neuro-Conroller for an anthropomorphic head-

arm robotic system.”, ICRA, 2005.S. Eskiizmirliler et al. “Reach and Grasp for an Anthropomorphic Robotic

System based on Sensorimotor Learning, BIOROB, 2006

LWPR Neural

Network MU1

3D Contact

Point

LWPR Neural

Network MU1

LWPR Neural

Network MU1

Thumb 1 Thumb 2 Thumb 3

Thumb 4

Index 1 Index 2 Index 3

Middle 1 Middle 2 Middle 3

Size Lx Size Ly Size Lz

OObbjjeecctt ttyyppee

LWPR Neural

Network MU4

Gaze informationon object position Vergence Azimuth Elevation

MU7LWPR

Object information Orientation

Object information Shape Size

Position-dependentarm configuration 3 dof

MU9LWPR

Preliminarywrist configuration 3 dof

MU10LWPR

MU8LWPR

Final wrist configuration 3 dof

Finalarm configuration 3 dof

MU11LWPR

Final finger configuration 10 dof

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Projet PALOMA (1998-2002) -> NEUROBOTICS (2004 - 2008)

Cube (d=6cm) Sphere (d=10cm) Cylinder (6.8;8)

Robot Simu. Robot Simu Robot Simu Xw 57 57 56.9 56.9 57.0 56.9 Yw -1.4 -1.4 -1.28 -1.28 -1.4 -1.3 Zw 7.7 7.7 9.5 9.5 8.6 8.5 J2 175.8 175.8 175.5 175.5 175.7 175.8 J3 -1.6 -1.6 -1.8 -1.8 -1.7 -1.7 J4 -102.9 -102.9 -106.6 -106.6 -104.8 -103.9 J5 -90.3 -90.3 -90.5 -90.5 -90.4 -90.4 J6 1.6 1.6 1.8 1.8 1.6 1.6 J7 -27.1 -27.1 -31.1 -31.1 -29.7 -28.7 H4 -25 -26.2 -25.7 -25.7 -23 -23.3 H5 -2 -2.3 -2.4 -2.4 -2.7 -2.6 H6 2 2.3 2.4 2.4 2.6 2.6 T0 85 70 80 70 80 70 T1 25 24 30 12 45 18 T2 X 15 X 15 X 15 T3 48 10 60 10 64.69 10 M1 50 25 30 17 45.1 21 M2 46 40 27 40 52.1 40 M3 X 35 X 35 X 35 I1 50 27 35 19 45 23 I2 42 35 40 35 39 35 I3 56 30 44 30 64 30

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Projet PALOMA (1998-2002) -> NEUROBOTICS (2004 - 2008)

03/01/2006 NEO234 / S. Eskiizmirliler, Paris 7, INSERM U742 6

Projet PALOMA (1998-2002) -> NEUROBOTICS (2004 - 2008)

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Galerie de photos (ENST,Paris & INSA, Toulouse)

Does the McKibben muscle look like to the Biological Muscle ?

Simulation of human point-to-point movement ? Why not?

SCARA may not suffer from its electrical motors

It’s not a dream anymore

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Les projets de recherche actuels de l’Equipe 2: Motricité –Dextérité manuelle de l’INSERM U742 - ANIM

StrategyModeling of VOR & Coordinated Head - Eye movements, Cerebellar like Sensory-Motor

control taking into account joint angles receptors outputs and force sensors.

Collaboration C.Darlot, ENST, CNRS URA820, Department of Signal & Image Processing, Paris. B. Tondu, GARI, INSA, Dept. of Comp. Eng., Toulouse. T. Pozzo, GAM, INSERM,Dijon.

BI Sensory-Motor Information FusionResearch & Demonstration Platforms1-link robot arm actuated by 2 McKibben muscles 2-links robot arm actuated by 4 McKibben artificial muscles Mechanical Eye ball actuated by 6 McKibben artificial muscles

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What is going on in Equip 2 : Movement of INSERM U483 ?

Some facts about EAPsSome facts about EAPs

Basic actuation principle of dielectric elastomers

V=ON

V

V=OFF

Polymer film

Compliant electrodes

thicknesst

voltageappliedV

field electric appliedE

space free of typermittivi

polymer the of typermittivi relative

electrodes the by applied pressure effective p

where

)(

o

r

22

t

VEp oror

Fload (force)

l (stroke)

Y

lEl or

2maxmax 5.0

wtEF or2maxmax 5.0

maxE

Spring load line

Constant load line

modulus sYoung'Y

ratio poisson 0.5

load the to due pressurep

strain planarS

thickness in strain

/5.0//)(5.0

/5.0/5.0/)(

x

,,,

,,,

z

loadyloadxloadzx

loadyloadxloadzz

S

where

YpYpYppS

YpYpYppS

Relationship between the applied electric filed, material properties and resulting stresses and strains in the presence of an external load

Single effective pressure acting in thickness compression

Force vs. stroke performance of a linear actuator

Les projets de recherche actuels de l’Equipe 2: Motricité –Dextérité manuelle de l’INSERM U742 - ANIM

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Artificial Sensory Hand Project

Strategy Integration of multi-modal sensory information for haptic and visual

processing through motor learning in the real world.

Collaboration G. Kovacs, S. Michel, ETH, EMPA, Zurich, Switzerland Danilo de Rossi, Univ. degli Studi di Pisa, Italy

Corticospinal signals ANN

EMGsignals

EAPmuscles

Sharmes2Simulation environment

Anthropomorphic5 fingers hand

Models of biologicalmuscles

Les projets de recherche actuels de l’Equipe 2: Motricité –Dextérité manuelle de l’INSERM U742 - ANIM

Main publications1) Manette OFL, Maier MA   (2004) Temporal processing in primate motor control: relation between cortical and EMG activity. IEEE Transactions on Neural Networks 15(5): 1260-1267 Special Issue on Temporal Coding for Neural Information Processing.

2) T. Zengin, S. Eskiizmirliler (HIBIT 2005) Modelling and Characterisation of EAP based Smart Structures for a Biological-like Artificial Muscle. 3) S. Eskiizmirliler et al. (EAPAD 2006) Studying the performance of linearly contractile bio-mimetic actuators to actuate fingers of an artificial hand.

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Qu’est-ce qui se passe ailleurs?(EAP show)

AMRINew Mexico University

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Qu’est-ce qui se passe ailleurs?(Puppet show)

SoftArmUniversity of Illinois

Pow

ered

Pro

sth

etic

s

University of Washington

Anthropomorphic robot armDelft University of Technology,

NetherlandsBio-Robotics Laboratory

University of Washington

Shadow hand, England

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Qu’est-ce qui se passe dans la vie réelle?????????